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CN109191847B - Self-adaptive trunk line coordination control method and system based on city gate data - Google Patents

Self-adaptive trunk line coordination control method and system based on city gate data Download PDF

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CN109191847B
CN109191847B CN201811189868.5A CN201811189868A CN109191847B CN 109191847 B CN109191847 B CN 109191847B CN 201811189868 A CN201811189868 A CN 201811189868A CN 109191847 B CN109191847 B CN 109191847B
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phase
time
intersection
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green light
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CN109191847A (en
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张萌萌
韩欣彤
李硕
王以龙
陆洪岩
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Shandong Jiaotong University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control

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Abstract

The invention discloses a self-adaptive trunk line coordination control method and system based on city gate data. The self-adaptive trunk line coordination control method based on the urban road access data comprises the steps of establishing a traffic parameter database based on the urban road access data; assuming that the traffic flow reaches and obeys Poisson distribution, taking the minimum delay and the minimum parking times of the trunk line coordination control intersection as the induction trunk line coordination optimization target, and calling data in the traffic parameter database to construct an induction trunk line coordination optimization target function; respectively optimizing phase difference, basic induction control parameters and phase sequence in the induction trunk line coordination optimization objective function based on a Markov chain model, considering queuing length and coordinating phase traffic flow arrival time difference until an optimization target is reached; and the phase difference is the green light starting time difference of adjacent intersections. The invention fully utilizes the effective green light time and realizes the main line coordination control more flexibly and effectively.

Description

Self-adaptive trunk line coordination control method and system based on city gate data
Technical Field
The invention belongs to the field of urban road traffic signal control, and particularly relates to a self-adaptive trunk line coordination control method and system based on urban checkpoint data.
Background
Although the foreign advanced traffic control system plays a certain role in relieving urban traffic jam, due to the difference of domestic and foreign traffic conditions, the traffic flow is large in the peak period commonly existing in many domestic cities, the illegal phenomena of non-motor vehicles and pedestrians are common, and the basic principle of induction control cannot adapt to the domestic traffic environment, so that the domestic traffic problem cannot be well solved by the traffic signal control system introduced from foreign countries.
The traditional trunk line coordination control has the defects of fixed vehicle speed and phase difference signal control, but the existing trunk line coordination method does not solve the defects of the traditional trunk line coordination control.
Disclosure of Invention
In order to solve the defects of the prior art, a first object of the present invention is to provide a self-adaptive trunk line coordination control method based on city gate data, which can optimize the phase difference in real time, fully utilize the effective green time, and realize the trunk line coordination control more flexibly and effectively.
The invention discloses a self-adaptive trunk line coordination control method based on city gate data, which comprises the following steps:
step (1): establishing a traffic parameter database based on the urban road checkpoint data;
step (2): assuming that the traffic flow reaches and obeys Poisson distribution, taking the minimum delay and the minimum parking times of the trunk line coordination control intersection as the induction trunk line coordination optimization target, and calling data in the traffic parameter database to construct an induction trunk line coordination optimization target function;
and (3): respectively optimizing phase difference, basic induction control parameters and phase sequence in the induction trunk line coordination optimization objective function based on a Markov chain model, considering queuing length and coordinating phase traffic flow arrival time difference until an optimization target is reached; the phase difference is the green light starting time difference of adjacent intersections; the basic parameters of the induction control comprise minimum green light time, unit green light time and maximum green light time.
Further, the data in the traffic parameter database includes: the number of the main line intersections, the traffic flow of the coordinated direction and the uncoordinated direction, the passing time of vehicles under red lights and green lights of adjacent intersections, the delay of the coordinated direction, the delay of the uncoordinated direction, the stopping times of the road coordinated direction, the stopping times of the road uncoordinated direction, the starting and ending time of the green light of the coordinated phase and the starting and ending time of the green light of the uncoordinated phase.
Further, in the step (2), the method further comprises the step of counting traffic flow, vehicle arrival and traffic flow dissipation distribution in each driving direction according to the traffic demand and the traffic state.
Further, the induction trunk line coordination optimization objective function is as follows:
Figure BDA0001827227660000021
α1+α2+β1+β2＝1
Figure BDA0001827227660000022
Figure BDA0001827227660000023
Figure BDA0001827227660000024
Figure BDA0001827227660000025
wherein: alpha and beta respectively represent the weight of the coordinated direction and the non-coordinated direction; dcoIndicating a coordination direction delay; dnoncoIndicating an uncoordinated directional delay; scoIndicating the number of coordinated directional stops; snoncoIndicating the number of non-coordinated directional stops; t isjIndicating a coordinated phase green light start time; t iskIndicating a coordinated phase green light end time;
Figure BDA0001827227660000026
indicating an uncoordinated phase green light start time;
Figure BDA0001827227660000027
indicating an uncoordinated phase green light end time; n represents the number of the main line intersections;
Figure BDA0001827227660000028
representing the red light lower traffic time of the coordination direction from the ith intersection to the (i + 1) th intersection;
Figure BDA0001827227660000029
representing the green light lower traffic time of the coordination direction from the ith intersection to the (i + 1) th intersection;
Figure BDA00018272276600000210
representing the red light lower traffic time of the coordination direction from the ith intersection to the ith-1 intersection;
Figure BDA00018272276600000211
representing the green light lower traffic time of the coordination direction from the ith intersection to the ith-1 intersection; a. theiIndicating the number of vehicles in the coordination direction from the ith intersection to the (i + 1) th intersection; diIndicates the direction of coordination AiThe number of vehicles passing through the ith intersection and the (i + 1) th intersection continuously;
Figure BDA00018272276600000212
indicating the number of vehicles in the coordination direction from the ith intersection to the ith-1 intersection;
Figure BDA00018272276600000213
indicating the direction of coordination
Figure BDA00018272276600000214
And the number of vehicles passing through the ith intersection and the ith-1 intersection is continuously counted.
Further, in the step (3), the specific process of optimizing the phase difference in the induction trunk coordination optimization objective function based on the Markov chain model includes:
before phase difference optimization is carried out, a signal cycle of a key intersection is taken as a cycle of a boundary intersection of a trunk coordination area, and the signal cycle of the intersections between the boundary intersections is a non-fixed cycle, and the change of the signal cycle is influenced by the signal cycle of the key intersection and the queuing length;
when the jth motorcade in the forward coordination direction passes through the ith-1 intersection, predicting the starting time of green lights when the jth motorcade passes through the ith intersection by using historical data, and simultaneously predicting the starting time of green lights when the jth +1 motorcade passes through the ith intersection by using a Markov chain model;
when the kth motorcade in the reverse coordination direction passes through the i +1 th intersection, the starting time of green light when the kth motorcade passes through the i th intersection is predicted by using historical data, and meanwhile, the starting time of green light when the kth +1 th motorcade passes through the i th intersection is predicted by using a Markov chain model.
Further, the optimization process of the minimum green time is as follows:
taking the product of the ratio of the flow rate of the coordination phase to the flow rate of all key lanes and the effective green time as the minimum green time of the coordination phase; the minimum green time of the uncoordinated phase is according to the signal timing manual so as to meet the requirements of emptying vehicles in line and crossing streets by pedestrians.
Further, the optimization process of the unit green light time is as follows:
on the basis of a signal timing manual, the condition that a coordinated phase and an uncoordinated phase continuously pass through a downstream intersection is considered, and whether the coordinated phase and the uncoordinated left-turn phase at the upstream intersection are continuous or not is judged: continuously prolonging the unit green light time, and allowing the uncoordinated left-turning phase to pass; when the phase is discontinuous, jumping to the next phase; coordination of direction unit green light extension time
Figure BDA0001827227660000031
The calculation formula is as follows:
Figure BDA0001827227660000032
wherein G isgapRepresenting the coordinated phase and the phase-following interval; l represents the length of the queued vehicle; v represents the vehicle speed at the intersection.
The green light extension time of the unit of the uncoordinated direction is calculated according to a signal timing manual, and the calculation formula is as follows:
Figure BDA0001827227660000033
further, the optimization process of the maximum green time is as follows:
the queuing length of each period is put into the optimization of the maximum green time, and the uncoordinated phase of the maximum green time
Figure BDA0001827227660000034
And coordinating phase maximum green time
Figure BDA0001827227660000035
The calculation formula is as follows:
Figure BDA0001827227660000036
Figure BDA0001827227660000037
wherein C represents the signal period of the intersection under uncoordinated control; ciIndicating the signal period of the intersection under the coordination control;
Figure BDA0001827227660000038
representing a non-coordinated phase critical lane flow ratio; gqIndicating a time to clear the maximum in-line vehicle green light; t is tlRepresenting intersection lost time; Σ y represents the total critical lane flow ratio.
Further, the process of optimizing the phase sequence based on the coordinated phase traffic flow arrival time difference is as follows: when the time difference between the forward coordination phase and the reverse coordination phase is greater than the emptying time of the left-turn queuing vehicles, the coordination phase and the left-turn phase are released simultaneously; and when the condition can not be met, the forward coordination phase and the reverse coordination phase are released simultaneously.
The invention also provides a self-adaptive trunk line coordination control system based on the city gate data.
The invention discloses a self-adaptive trunk line coordination control system based on city gate data, which comprises a self-adaptive trunk line coordination controller and a memory;
the adaptive trunk line coordination controller is configured to execute the control method.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method utilizes massive real-time bayonet data to accurately predict the coordinated phase difference and the intersection queuing length, and overcomes the defect that the traditional trunk line coordination control is controlled by fixed vehicle speed and phase difference signals.
(2) The invention respectively optimizes the induction basic control parameters of minimum green time, unit green time, maximum green time and the like in consideration of the defects that domestic non-motor vehicle flows and pedestrian flows are disordered and the coordination phase is easy to be interrupted.
(3) The intersection signal period of the invention is a non-common period, and the effective green time is fully utilized, so that the realization of the trunk line coordination control is more flexible and effective.
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The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a flow chart of an adaptive trunk coordination control method based on city gate data according to the present invention;
FIG. 2 is a schematic view of the coordinated phase and non-coordinated phase traffic flow continuity of the present invention;
FIG. 3 is a schematic diagram of a basic 8 phase crossing of the present invention;
FIG. 4 is a sequence diagram of the NEMA bicyclic structure of the present invention;
FIG. 5 is a schematic diagram of inductive signal coordination optimization.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention discloses a self-adaptive trunk line coordination control method based on city gate data, which comprises the following steps:
step 1): establishing a traffic parameter database based on the urban road checkpoint data;
data in the traffic parameter database comprises the number of main line intersections, traffic flows in coordinated directions and non-coordinated directions, the passing time of vehicles under red lights and green lights of adjacent intersections, coordinated direction delay, non-coordinated direction delay, road coordinated direction parking times, road non-coordinated direction parking times, coordinated phase green light starting and ending time and non-coordinated phase green light starting and ending time;
the specific method of the step 1) comprises the following steps:
and receiving and storing the bayonet data uploaded by each bayonet device. And according to the traffic demand and the traffic state, counting the traffic flow, the vehicle arrival and the traffic flow dissipation distribution in each driving direction.
The traditional traffic dissipation model is derived from a fluid mechanics theory and is obtained based on a large amount of survey statistical data. In reality, because the driving characteristics, road conditions, vehicle composition, time characteristics and the like of drivers are different, the queuing dissipation time obtained by utilizing the traditional queuing dissipation model is different from the actual queuing vehicle dissipation time, and traffic parameters before and after traffic flow change are needed during calculation, so that accurate data are not easy to obtain.
The invention utilizes the license plate data acquired in real time to calculate the dissipation time t of queuing vehiclesdIs the product of the number of queued vehicles and the saturated headway.
td＝nth
n is the number of queued vehicles in the detection area;
th-queued vehicles start a saturated headway.
Step 2): and constructing an induction trunk line coordination optimization objective function by taking the minimum delay and the minimum stop times of the trunk line coordination control intersection as induction trunk line coordination optimization objectives.
The specific method of the step 2):
assuming that the arrival of the traffic flow obeys the poisson distribution, the invention takes the minimum delay and the minimum parking times of the trunk line coordination control intersection as optimization targets, including the delay and the parking times of the vehicles in the non-coordination phase.
Figure BDA0001827227660000051
Wherein:
α1+α2+β1+β2＝1
Figure BDA0001827227660000052
Figure BDA0001827227660000053
Figure BDA0001827227660000061
Figure BDA0001827227660000062
α, β — the harmonized and non-harmonized directional weights;
Dco-coordinating direction delays;
Dnonco-non-coordinated direction delays;
Sco-coordinating the number of directional stops;
Snonco-number of stops in non-coordinated directions;
Tj-coordinating phase green light start times;
Tk-coordinating phase green light end times;
Figure BDA0001827227660000063
-non-coordinated phase green light start time;
Figure BDA0001827227660000064
-non-coordinated phase green light end time;
n is the number of the main line intersections;
Figure BDA0001827227660000065
coordinating the red light passing time of the direction from the ith intersection to the (i + 1) th intersection;
Figure BDA0001827227660000066
coordinating the green light passing time of the direction from the ith intersection to the (i + 1) th intersection;
Figure BDA0001827227660000067
coordinating the red light passing time of the direction from the ith intersection to the ith-1 intersection;
Figure BDA0001827227660000068
coordinating the green light passing time of the direction from the ith intersection to the ith-1 intersection;
Ai-coordinating the number of vehicles in the direction from the i-th intersection to the i + 1-th intersection;
Di-coordination of directions AiThe number of vehicles passing through the ith intersection and the (i + 1) th intersection continuously;
Figure BDA0001827227660000069
-coordinating the number of vehicles in the direction from the i-th intersection to the i-1 st intersection;
Figure BDA00018272276600000610
-coordinating directions
Figure BDA00018272276600000611
Vehicle with a motorAnd the number of vehicles passing through the ith intersection and the ith-1 intersection is continuously counted.
Step 3): on the basis of the induction trunk line coordination optimization objective function, phase difference, induction control basic parameters and phase sequence are correspondingly optimized on the basis of a Markov chain model, consideration of queuing length and coordination of phase vehicle flow arrival time difference until an optimization target is reached.
Wherein, the phase difference is the green light starting time difference of the adjacent intersections;
and sensing and controlling basic parameters including minimum green light time, unit green light time and maximum green light time.
In the step 3), the process of optimizing the phase difference based on the Markov chain model comprises the following steps:
before phase difference optimization is carried out, a signal period of the key intersection is used as a period of the boundary intersection of the trunk coordination area, so that smoothness of the key intersection is guaranteed. The intersection signal period between the boundary intersections is a non-fixed period, and the change of the intersection signal period is influenced by the signal period of the key intersection and the queuing length. The traffic flows in two coordination directions at the ith intersection at the current moment are respectively assumed to be the jth motorcade and the kth motorcade. The signal cycle length at the ith intersection is:
Figure BDA0001827227660000071
Figure BDA0001827227660000072
Figure BDA0001827227660000073
-in the forward direction, the jth fleet starts the time when passing the green light at the ith intersection;
Figure BDA0001827227660000074
-in the forward direction, the jth +1 fleet starts the time when passing the green light at the ith intersection;
Figure BDA0001827227660000075
-in the reverse coordination direction, the kth fleet starts the time when passing the green light at the ith intersection;
Figure BDA0001827227660000076
-reverse coordination direction, the k +1 th fleet through the i th intersection green start time.
When the jth motorcade in the forward coordination direction passes through the ith-1 intersection, the starting time of green lights when the jth motorcade passes through the ith intersection is predicted by using historical data, and meanwhile, the starting time of green lights when the jth +1 motorcade passes through the ith intersection is predicted by using a Markov chain model. The calculation formula is as follows:
Figure BDA0001827227660000077
Figure BDA0001827227660000078
-the predicted time of travel from the i-1 th intersection to the i-th intersection;
l-length of queued vehicle;
v-vehicle speed at the intersection;
td-queued vehicle dissipation time.
According to the speed of the road section, the traffic state of the road section is divided into three traffic states of smooth traffic, slow traffic and congestion, which are respectively represented by f, s and c. Assuming that when the jth fleet passes through the ith-1 intersection, the j +1 fleet reaches the ith-n intersection, and the initial state probability matrix of the j +1 fleet vehicles at the ith-n intersection is as follows:
Figure BDA0001827227660000079
the state transition probability matrix from the i-n road section to the i-n +1 road section is as follows:
Figure BDA0001827227660000081
markov path occurrence probability q from i-n road section to i-n +1 road sectioni
q1＝πfpff
q2＝πfpfs
q3＝πfpfc
q4＝πspsf
q5＝πspss
q6＝πspsc
q7＝πcpcf
q8＝πcpcs
q9＝πcpcc
Markov travel time from i-n road segment to i-n +1 road segment
Figure BDA0001827227660000082
Estimating
Figure BDA0001827227660000083
Therefore, the start time of green light of the j +1 th fleet from the i-n th intersection to the i-th intersection is predicted.
When the kth motorcade in the reverse coordination direction passes through the i +1 th intersection, the starting time of green light when the kth motorcade passes through the i th intersection is predicted by using historical data, and meanwhile, the starting time of green light when the kth +1 th motorcade passes through the i th intersection is predicted by using a Markov chain model. The calculation formula is as follows:
Figure BDA0001827227660000084
Figure BDA0001827227660000085
-the predicted time of travel from the i +1 th intersection to the i th intersection;
l-length of queued vehicle;
v-vehicle speed at the intersection;
td-queued vehicle dissipation time;
and similarly, the start time of green light when the k +1 th fleet reaches the i th intersection from the i + n th intersection is predicted.
Due to the fact that randomness and interference of urban road traffic are large, a motorcade cannot arrive according to an expected phase difference completely, and stability and accuracy of line control are reduced. According to the invention, on the basis of an expected phase difference, time fluctuation of p seconds before and after the phase difference is given, and the unit step length is 1 s. The formula of the green light start time of the two coordination directions is:
Figure BDA0001827227660000091
Figure BDA0001827227660000092
p is the fluctuation range of the starting time of the green light, and the step length is 1;
in step 3), the specific method for optimizing the induction control basic parameters by considering the queuing length comprises the following steps:
step 3.1): and optimizing the minimum green light time.
In the invention, the minimum green time of the coordinated phase and the minimum green time of the non-coordinated phase are respectively set, when a coordinated phase motorcade appears, vehicles can continuously arrive at an intersection in a longer time, and in order to avoid interruption of the coordinated phase caused by distraction of drivers, pedestrian interference and the like, the product of the ratio of the flow rate of the coordinated phase to the flow rate of all key driveways and the effective green time is taken as the minimum green time of the coordinated phase
Figure BDA0001827227660000093
The calculation formula is as follows:
Figure BDA0001827227660000094
c, intersection signal period under uncoordinated control;
tl-intersection lost time;
Figure BDA0001827227660000095
-coordinating phase critical lane flow ratios;
Σ y — total flowrate of critical lanes;
non-coordinated phase minimum green time
Figure BDA0001827227660000096
According to the signal timing manual, the requirements of emptying the queuing vehicles and crossing the street by the pedestrians are met, and the calculation formula is as follows:
Figure BDA0001827227660000097
wherein G isminvRepresenting a minimum time for a queued vehicle to pass through the intersection; gminpRepresenting a minimum time for the pedestrian to pass.
Step 3.2): and optimizing the unit green light time.
Due to the switching of the phases, there is a large headway distance between the coordinated and uncoordinated phases (left turn ahead, coordinated behind or coordinated ahead, left turn behind), as shown in fig. 2. When the distance between the vehicles is larger than the unit green light extension time, the unit green light time is used as a signal for switching, the vehicles in the uncoordinated phase cannot pass through the intersection, and the vehicle delay is increased.
On the basis of an STM (signal timing manual), the method considers the condition that the coordinated phase and the uncoordinated phase continuously pass through the downstream intersection, and judges whether the coordinated phase and the uncoordinated left-turn phase at the upstream intersection are continuous. Continuously prolonging the unit green light time, and allowing the uncoordinated left-turning phase to pass; when the phase is not continuous, the next phase is jumped.
The calculation formula of the green light extension time in the coordination direction unit is as follows:
Figure BDA0001827227660000101
Ggap-coordinating phase with phase-joining time intervals;
the green light extension time of the unit of the uncoordinated direction is calculated according to the STM, and the calculation formula is as follows:
Figure BDA0001827227660000102
step 3.3): and optimizing the maximum green light time.
In the invention, the maximum green time of the coordinated phase green light and the maximum green time of the uncoordinated phase green light are respectively set. In the case of an excessively long queue length in the uncoordinated phase, the green time obtained according to the flow ratio may not meet the requirements of the queued vehicles. In order to avoid the condition that the maximum green light time of the uncoordinated phase cannot meet the clearing requirement of the queued vehicles, the queuing length in each period is optimized into the maximum green light time, and the calculation formulas of the maximum green light time of the uncoordinated phase and the maximum green light time of the coordinated phase are as follows:
Figure BDA0001827227660000103
Figure BDA0001827227660000104
c, intersection signal period under uncoordinated control;
Ci-coordinating the signal cycle of the lower intersection;
Figure BDA0001827227660000105
-non-coordinated phase key lane flow ratio;
Gq-clearing the maximum in-line vehicle green time;
in step 3), a specific method for optimizing the phase sequence based on the coordinated phase traffic flow arrival time difference is as follows:
due to the influence of road traffic states and vehicles queued at the intersection, the time for the vehicles in the uplink coordination phase and the downlink coordination phase to reach the intersection is not fixed, and the delay of the vehicles can be caused by utilizing the traditional fixed phase sequence. Taking a common eight-phase intersection as an example, as shown in fig. 3, the invention performs phase sequence optimization according to the time difference between the arrival of vehicles at the intersection in the forward coordinated phase and the reverse coordinated phase by using a dual-ring structure (dual-ring) phase sequence of nema (national Electrical Manufacturers association) and taking the start time of the coordinated phase green light as the start point of a signal period. The left-turn lead-lead case is removed, and there are 12 schemes, each having 6 phases and 8 phase sequences. The phase-sequence table at the intersection is shown in fig. 4. When the time difference between the forward coordination phase and the reverse coordination phase is greater than the emptying time of the left-turn queuing vehicles, the coordination phase and the left-turn phase are released simultaneously; and when the condition can not be met, the forward coordination phase and the reverse coordination phase are released simultaneously. The judgment formula is as follows:
Figure BDA0001827227660000111
the non-critical intersection is subjected to green light time distribution according to a basic control principle, so that time is remained, and the remaining time needs to be redistributed. According to the queuing length, the remaining green light time is distributed to two lap phases (east-west straight going, south-north straight going, east-west left turning, south-north left turning, east-east straight left turning, west-west straight left turning, south-straight left turning and north-straight left turning) with the largest queuing length until a vehicle arrives at the next cycle of the coordinated phase. Inductive signal coordination optimization is shown in fig. 5.
The invention also provides a self-adaptive trunk line coordination control system based on the city gate data, which comprises a self-adaptive trunk line coordination controller and a memory;
the adaptive trunk line coordination controller is configured to execute the control method.
The method utilizes massive real-time bayonet data to accurately predict the coordinated phase difference and the intersection queuing length, and overcomes the defect that the traditional trunk line coordination control is controlled by fixed vehicle speed and phase difference signals.
The invention respectively optimizes the induction basic control parameters of minimum green time, unit green time, maximum green time and the like in consideration of the defects that domestic non-motor vehicle flows and pedestrian flows are disordered and the coordination phase is easy to be interrupted.
The intersection signal period of the invention is a non-common period, and the effective green time is fully utilized, so that the realization of the trunk line coordination control is more flexible and effective.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (8)

1. A self-adaptive trunk line coordination control method based on city gate data is characterized by comprising the following steps:
step (1): establishing a traffic parameter database based on the urban road checkpoint data;
step (2): assuming that the traffic flow reaches and obeys Poisson distribution, taking the minimum delay and the minimum parking times of a trunk line coordination control intersection as an induction trunk line coordination optimization target, and calling data in a traffic parameter database to construct an induction trunk line coordination optimization target function, wherein the data in the traffic parameter database comprises: the number of main line intersections, the traffic flow of the coordinated direction and the uncoordinated direction, the passing time of vehicles under red lights and green lights of adjacent intersections, the delay of the coordinated direction, the delay of the uncoordinated direction, the stopping times of the road coordinated direction, the stopping times of the road uncoordinated direction, the starting and ending time of the green light of the coordinated phase and the starting and ending time of the green light of the uncoordinated phase;
and (3): respectively optimizing phase difference, basic induction control parameters and phase sequence in the induction trunk line coordination optimization objective function based on a Markov chain model, considering queuing length and on the coordination phase traffic flow arrival time difference until an optimization target is reached; the phase difference is the green light starting time difference of adjacent intersections; the induction control basic parameters comprise minimum green light time, unit green light time and maximum green light time;
the induction trunk line coordination optimization objective function is as follows:
Figure FDA0002824815630000011
α1+α2+β1+β2＝1
Figure FDA0002824815630000012
Figure FDA0002824815630000013
Figure FDA0002824815630000014
Figure FDA0002824815630000015
wherein: alpha is alpha1A weight representing a coordination direction delay; alpha is alpha2A weight representing a non-coordinated direction delay; beta is a1A weight representing the number of coordinated directional stops; beta is a2A weight representing the number of non-coordinated directional stops;
Figure FDA0002824815630000016
indicating a coordination direction delay;
Figure FDA0002824815630000017
indicating an uncoordinated directional delay;
Figure FDA0002824815630000018
indicating the number of coordinated directional stops;
Figure FDA0002824815630000019
indicating the number of non-coordinated directional stops;
Figure FDA00028248156300000110
indicating the maximum green time of the uncoordinated phase,
Figure FDA00028248156300000111
indicating the maximum green time of the coordination phase,
Figure FDA00028248156300000112
indicating the minimum green time of the coordination phase,
Figure FDA00028248156300000113
indicating a non-coordinated phase minimum green time;
Tjindicating a coordinated phase green light start time; t iskIndicating a coordinated phase green light end time;
Figure FDA00028248156300000114
indicating an uncoordinated phase green light start time;
Figure FDA00028248156300000115
indicating an uncoordinated phase green light end time; n represents the number of the main line intersections;
Figure FDA0002824815630000021
representing the red light lower traffic time of the coordination direction from the ith intersection to the (i + 1) th intersection;
Figure FDA0002824815630000022
representing the green light lower traffic time of the coordination direction from the ith intersection to the (i + 1) th intersection;
Figure FDA0002824815630000023
representing the red light lower traffic time of the coordination direction from the ith intersection to the ith-1 intersection;
Figure FDA0002824815630000024
representing the green light lower traffic time of the coordination direction from the ith intersection to the ith-1 intersection; a. theiIndicating the number of vehicles in the coordination direction from the ith intersection to the (i + 1) th intersection; diIndicates the direction of coordination AiThe number of vehicles passing through the ith intersection and the (i + 1) th intersection continuously;
Figure FDA0002824815630000025
indicating the number of vehicles in the coordination direction from the ith intersection to the ith-1 intersection;
Figure FDA0002824815630000026
indicating the direction of coordination
Figure FDA0002824815630000027
And the number of vehicles passing through the ith intersection and the ith-1 intersection is continuously counted.
2. The adaptive trunk line coordination control method based on city gate data as claimed in claim 1, characterized in that, in said step (2), it further comprises counting traffic flow, vehicle arrival and traffic flow dissipation distribution in each driving direction according to traffic demand and traffic state.
3. The adaptive trunk coordination control method based on city bayonet data as claimed in claim 1, wherein in step (3), the specific process of optimizing the phase difference in the induction trunk coordination optimization objective function based on the Markov chain model is as follows:
before phase difference optimization is carried out, a signal cycle of a key intersection is taken as a cycle of a boundary intersection of a trunk coordination area, and the signal cycle of the intersections between the boundary intersections is a non-fixed cycle, and the change of the signal cycle is influenced by the signal cycle of the key intersection and the queuing length;
when the jth motorcade in the forward coordination direction passes through the ith-1 intersection, predicting the starting time of green lights when the jth motorcade passes through the ith intersection by using historical data, and simultaneously predicting the starting time of green lights when the jth +1 motorcade passes through the ith intersection by using a Markov chain model;
when the kth motorcade in the reverse coordination direction passes through the i +1 th intersection, the starting time of green light when the kth motorcade passes through the i th intersection is predicted by using historical data, and meanwhile, the starting time of green light when the kth +1 th motorcade passes through the i th intersection is predicted by using a Markov chain model.
4. The adaptive trunk line coordination control method based on city gate data as claimed in claim 1, wherein the optimization process of the minimum green light time is as follows:
taking the product of the ratio of the flow rate of the coordination phase to the flow rate of all key lanes and the effective green time as the minimum green time of the coordination phase; the minimum green time of the uncoordinated phase is according to the signal timing manual so as to meet the requirements of emptying vehicles in line and crossing streets by pedestrians.
5. The adaptive trunk line coordination control method based on city gate data as claimed in claim 1, wherein the optimization process of unit green light time is:
on the basis of a signal timing manual, the condition that a coordinated phase and an uncoordinated phase continuously pass through a downstream intersection is considered, and whether the coordinated phase and the uncoordinated left-turn phase at the upstream intersection are continuous or not is judged: continuously prolonging the unit green light time, and allowing the uncoordinated left-turning phase to pass; when the phase is discontinuous, jumping to the next phase; coordination of direction unit green light extension time
Figure FDA0002824815630000031
The calculation formula is as follows:
Figure FDA0002824815630000032
wherein G isgapRepresenting the coordinated phase and the phase-following interval; l represents the length of the queued vehicle; v represents the vehicle speed at the intersection;
unit green light extension time in non-coordinated direction
Figure FDA00028248156300000310
According to the signal timing handbook, the calculation formula is as follows:
Figure FDA0002824815630000034
6. the adaptive trunk line coordination control method based on city gate data as claimed in claim 1, wherein the optimization process of the maximum green time is as follows:
the queuing length of each period is put into the optimization of the maximum green time, and the uncoordinated phase of the maximum green time
Figure FDA0002824815630000035
And coordinating phase maximum green time
Figure FDA0002824815630000036
The calculation formula is as follows:
Figure FDA0002824815630000037
Figure FDA0002824815630000038
wherein C represents the signal period of the intersection under uncoordinated control; ciIndicating the signal period of the intersection under the coordination control;
Figure FDA0002824815630000039
representing a non-coordinated phase critical lane flow ratio; gqIndicating a time to clear the maximum in-line vehicle green light; t is tlRepresenting intersection lost time; Σ y represents the total critical lane flow ratio.
7. The self-adaptive trunk line coordination control method based on city gate data as claimed in claim 1, wherein the process of optimizing the phase sequence based on the coordinated phase traffic arrival time difference is as follows: when the time difference between the forward coordination phase and the reverse coordination phase is greater than the emptying time of the left-turn queuing vehicles, the coordination phase and the left-turn phase are released simultaneously; and when the condition can not be met, the forward coordination phase and the reverse coordination phase are released simultaneously.
8. A self-adaptive trunk line coordination control system based on city gate data is characterized by comprising a self-adaptive trunk line coordination controller and a memory;
the adaptive trunk line coordination controller configured to perform the control method of any one of claims 1-7.
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